Commit 29f49555 authored by Pierre Fernbach's avatar Pierre Fernbach Committed by Pierre Fernbach
Browse files

Reduce root Height in reference config

parent cd8cfaec
......@@ -40,7 +40,7 @@ class Robot(Parent):
referenceConfig = [
0.0,
0.0,
1.0225,
1.01977,
0.0,
0.0,
0.0,
......@@ -82,7 +82,11 @@ class Robot(Parent):
referenceConfig_elbowsUp = [
0.0,
0.0,
<<<<<<< cba7912482150ad26b98838e76e365360853dd49
1.0225,
=======
1.01977,
>>>>>>> Reduce root Height in reference config
0.0,
0.0,
0.0,
......@@ -124,7 +128,11 @@ class Robot(Parent):
referenceConfig_legsApart = [
0.0,
0.0,
<<<<<<< cba7912482150ad26b98838e76e365360853dd49
1.0225,
=======
1.01977,
>>>>>>> Reduce root Height in reference config
0.0,
0.0,
0.0,
......@@ -166,7 +174,11 @@ class Robot(Parent):
referenceConfig_armsFront = [
0.0,
0.0,
<<<<<<< cba7912482150ad26b98838e76e365360853dd49
1.0225,
=======
1.01977,
>>>>>>> Reduce root Height in reference config
0,
0.0,
0.0,
......
......@@ -25,7 +25,7 @@ class Robot(Parent):
legX = 0.1
legY = 0.06
ref_height = 1.0225
ref_height = 1.01977
# reference position of the end effector position for each ROM
ref_EE_lLeg = [-0.008846952891378526, 0.0848172440888579, -1.01977]
ref_EE_lLeg[0] = 0. # assure symetry of dynamic constraints on flat ground
......
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